/*
 * SPDX-FileCopyrightText: 2025 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
/*
 * @Hardwares: M5Core + Module COMMU
 * @Platform Version: Arduino M5Stack Board Manager v2.1.3
 * @Dependent Library:
 * M5Stack@^0.4.6: https://github.com/m5stack/M5Stack
 */

#include <M5Stack.h>
#include <mcp_can.h>
#include "m5_logo.h"

// Please add MCP_CAN_LIB to your library first........
// MCP_CAN_LIB file in M5stack lib examples -> modules -> COMMU ->
// MCP_CAN_lib.rar

/**
 * variable for loop
 */

byte data[8] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};

/**
 * variable for CAN
 */
long unsigned int rxId;
unsigned char len = 0;
unsigned char rxBuf[8];
char msgString[128];

#define CAN0_INT 15  // Set INT to pin 2
MCP_CAN CAN0(12);    // Set CS to pin 10

void init_can();
void test_can();

void setup()
{
    M5.begin();
    M5.Power.begin();
    Serial.begin(9600);
    Serial2.begin(9600, SERIAL_8N1, 16, 17);

    M5.Lcd.pushImage(0, 0, 320, 240, (uint16_t *)gImage_logoM5);
    delay(500);
    M5.Lcd.setTextColor(BLACK);
    // M5.Lcd.setTextSize(1);

    init_can();
    Serial.println("Test CAN...");
}

void loop()
{
    if (M5.BtnA.wasPressed()) {
        M5.Lcd.clear();
        M5.Lcd.printf("CAN Test B!\n");
        M5.Lcd.pushImage(0, 0, 320, 240, (uint16_t *)gImage_logoM5);
        init_can();
    }
    test_can();
    M5.update();
}

void init_can()
{
    M5.Lcd.setTextSize(1);
    M5.Lcd.setCursor(0, 10);
    M5.Lcd.pushImage(0, 0, 320, 240, (uint16_t *)gImage_logoM5);
    M5.Lcd.printf("CAN Test B!\n");

    // Initialize MCP2515 running at 16MHz with a baudrate of 500kb/s and the
    // masks and filters disabled.
    if (CAN0.begin(MCP_ANY, CAN_1000KBPS, MCP_8MHZ) == CAN_OK)
        Serial.println("MCP2515 Initialized Successfully!");
    else
        Serial.println("Error Initializing MCP2515...");

    CAN0.setMode(MCP_NORMAL);  // Change to normal mode to allow messages to be
                               // transmitted
}

void test_can()
{
    // send data:  ID = 0x100, Standard CAN Frame, Data length = 8 bytes, 'data'
    // = array of data bytes to send
    byte sndStat = CAN0.sendMsgBuf(0x100, 0, 8, data);
    if (sndStat == CAN_OK) {
        Serial.println("Message Sent Successfully!");
        M5.Lcd.printf("Message Sent Successfully!\n");
    } else {
        Serial.println("Error Sending Message...");
        M5.Lcd.printf("Error Sending Message...\n");
    }
    delay(200);  // send data per 200ms
}
